2 All notable changes to this project will be documented in this file.
4 The format is based on [Keep a Changelog][] and this project adheres to
5 [Semantic Versioning][].
7 [Keep a Changelog]: http://keepachangelog.com/
8 [Semantic Versioning]: http://semver.org/
14 - Operator `==` for RRTNode.
17 - Slim down `RRTNode` class -- do not inherit from `BicycleCar`.
18 - Test goal first, then random sample.
22 - Invalid memory access.
23 - Missing goals in ut.
28 - Missing source file in cmake config.
33 - Uniform sampling. (Normal sampling is still default.)
34 - Compound extensions 18 - 33.
35 - Path optimization in backward direction.
36 - Goal found check for zone instead of Euclidean distance and max. angle
40 - Reformat lists in readme.
41 - Add `RRTExt3` to compound extensions 18 - 33.
45 - Double value in unsigned int constant.
49 - Collision detection based on [cute c2][].
50 - Time restriction for algorithm.
51 - RRT node types (currently `cusp` and `connected`).
52 - Compound extensions.
53 - Dijkstra algorithm for path optimization (`rrtext3.cc`).
54 - Grid based `nn` and `nv` methods (`rrtext4.cc`).
55 - Compound extensions.
57 - Should continue method.
58 - Deinit method -- get ready for planner reset.
61 - 2D K-d tree extension.
62 - 3D K-d tree extension.
65 - How the algorithm is stopped - possible to choose from more options.
66 - Separate `store_node` procedure.
67 - Grid constants used in `ext4`.
68 - Some small refactoring.
71 - `should_continue` method.
73 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
77 - Bicycle car constructor for RRTNode.
78 - Different costs extension.
81 - Extend next with steering from just added nodes.
86 - Changelog, license, readme.
87 - Doxygen config file.
88 - [WvTest][] unit testing framework.
89 - Basic naive RRT star implementation without obstacles.
90 - Polygon obstacle, collision with obstacles.
91 - Use [Reeds and Shepp](https://github.com/ghliu/pyReedsShepp) in steer method.
93 [WvTest]: https://github.com/apenwarr/wvtest